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https://www.cds.caltech.edu/~murray/amwiki/Version_2.10b.html Version 2.10b - FBSwiki version https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_5.12,_expression_non-equilibrium_condition_has_wrong_symbols.html Errata: In Example 5.12, expression non-equilibrium condition has wrong symbols - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/FAQ:_How_is_'open_loop'_a_feedback_mechanism.html FAQ: How is 'open loop' a feedback mechanism? - FBSwiki is open feedback mechanism faq loop https://www.cds.caltech.edu/~murray/amwiki/Errata:_Denominator_of_vectored_thrust_process_model_should_be_Js%5E2.html Errata: Denominator of vectored thrust process model should be Js^2 - FBSwiki process model https://www.cds.caltech.edu/~murray/amwiki/In_discussion_on_algebraic_loops_in_Section_3.2,_there_is_an_extra_%22be%22.html In discussion on algebraic loops in Section 3.2, there is an extra "be" - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_Contour_integral_in_derivation_of_Bode's_integral_formula_is_analyzed_incorrectly.html Errata: Contour integral in derivation of Bode's integral formula is analyzed incorrectly - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_2.5,_expression_for_the_step_response_is_missing_some_factors.html Errata: In Example 2.5, expression for the step response is missing some factors - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_equation_(8.6),_matrix_inverse_is_computed_incorrectly.html Errata: In equation (8.6), matrix inverse is computed incorrectly - FBSwiki errata equation https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_9.9,_10%252Fa_should_be_1%252Ftau.html Errata: In Exercise 9.9, 10/a should be 1/tau - FBSwiki errata exercise https://www.cds.caltech.edu/~murray/amwiki/Errata:_Proportional_gain_in_Example_11.4_transfer_function_should_be_kp.html Errata: Proportional gain in Example 11.4 transfer function should be kp - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_13.2,_there's_a_grammatical_issue_in_the_discussion_of_system_stability.html In Section 13.2, there's a grammatical issue in the discussion of system stability - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/FAQ:_How_do_we_learn_how_to_translate_MATLAB_equations_into_the_Simulink_diagrams.html FAQ: How do we learn how to translate MATLAB equations into the Simulink diagrams? - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_6.10,_the_reference_gain_should_be_k_r_=_a_1%252Fb.html Errata: In Example 6.10, the reference gain should be k r = a 1/b - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_10.1,_the_second_term_in_the_denominator_should_be_kp_not_kd.html Errata: In Exercise 10.1, the second term in the denominator should be kp not kd - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Second_edition,_version_3.0j_posted.html Second edition, version 3.0j posted - FBSwiki second edition version posted https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_8.4,_boundary_condition_and_coefficients_for_psi(x)_are_incorrect.html Errata: In Example 8.4, boundary condition and coefficients for psi(x) are incorrect - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_After_equation_(5.31),_rolling_friction_term_disappears_if_v_=_0.html Errata: After equation (5.31), rolling friction term disappears if v = 0 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_12.6,_there_is_a_missing_comma_in_the_caption_of_Figure_12.17.html In Section 12.6, there is a missing comma in the caption of Figure 12.17 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_the_caption_for_Figure_6.7,_L_e=20_should_be_L_e=30.html Errata: In the caption for Figure 6.7, L e=20 should be L e=30 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_6.4,_need_to_assume_A_is_invertible_and_C_A%5E-1_B_is_nonzero.html Errata: In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_10.3,_the_caption_for_Figure_10.11_seems_to_have_a_typo.html In Section 10.3, the caption for Figure 10.11 seems to have a typo - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_Typo_in_the_caption_for_Figure_4.15.html Errata: Typo in the caption for Figure 4.15 - FBSwiki in the errata typo caption figure https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_12.9,_poles_are_at_-a,_-p1,_-p2.html Errata: In Example 12.9, poles are at -a, -p1, -p2 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Figure_8.15_and_accompanying_text_a_should_be_omega0.html Errata: In Figure 8.15 and accompanying text a should be omega0 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/OBC:Main_Page&redirect=no.html OBC:Main Page - FBSwiki main page obc https://www.cds.caltech.edu/~murray/amwiki/In_Section_12.3,_there_is_a_missing_space.html In Section 12.3, there is a missing space - FBSwiki there is section missing space https://www.cds.caltech.edu/~murray/amwiki/Exercise:_Exploring_the_performance_of_a_cruise_controller*.html Exercise: Exploring the performance of a cruise controller* - FBSwiki exploring the of a exercise performance cruise https://www.cds.caltech.edu/~murray/amwiki/Errata:_Caption_for_Figure_8.15b_is_missing_an_s_in_the_numerator.html Errata: Caption for Figure 8.15b is missing an s in the numerator - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_12.2,_the_feedforward_command_u_fv_is_mislabeled_in_Figure_12.3.html In Section 12.2, the feedforward command u fv is mislabeled in Figure 12.3 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_Formula_for_Ger_should_have_the_'_on_dp,_not_dc.html Errata: Formula for Ger should have the ' on dp, not dc - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Implementation.html Implementation - FBSwiki implementation https://www.cds.caltech.edu/~murray/amwiki/Errata:_%22Assigning_a_closed_loop_zero%22_should_be_%22assigning_a_closed_loop_pole%22.html Errata: "Assigning a closed loop zero" should be "assigning a closed loop pole" - FBSwiki closed loop errata assigning zero pole https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_7.6,_the_coefficient_in_front_of_thetadot_should_be_v%252Fb.html Errata: In Example 7.6, the coefficient in front of thetadot should be v/b - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Equation_2.11_is_not_equal_to_the_preceding_expression_from_which_it_came.html Equation 2.11 is not equal to the preceding expression from which it came - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_Closed_loop_time_constant_after_equation_(10.6)_has_an_extra_factor_of_2.html Errata: Closed loop time constant after equation (10.6) has an extra factor of 2 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_Minus_sign_is_missing_in_gain_scheduled_feedback.html Errata: Minus sign is missing in gain scheduled feedback - FBSwiki minus sign errata missing gain scheduled https://www.cds.caltech.edu/~murray/amwiki/Errata:_Missing_ydot_after_equation_(10.16).html Errata: Missing ydot after equation (10.16) - FBSwiki errata missing ydot equation https://www.cds.caltech.edu/~murray/amwiki/FAQ:_What_are_the_parameters_for_the_Whipple_bicycle_model.html FAQ: What are the parameters for the Whipple bicycle model? - FBSwiki faq parameters whipple bicycle model https://www.cds.caltech.edu/~murray/amwiki/NCS&redirect=no.html NCS - FBSwiki ncs https://www.cds.caltech.edu/~murray/amwiki/Errata:_Equation_(3.24)_should_have_c_in_the_numerator_instead_of_c0.html Errata: Equation (3.24) should have c in the numerator instead of c0 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Category:Introduction_errata.html Category:Introduction errata - FBSwiki category introduction errata https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_2.7,_reference_to_inverted_pendulum_may_be_confusing.html Errata: In Exercise 2.7, reference to inverted pendulum may be confusing - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_12.1,_the_vector_w_corresponding_to_Fig._12.1_seems_to_be_incorrect.html In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be incorrect - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/File:Pid-zntable.png.html File:Pid-zntable.png - FBSwiki file pid png https://www.cds.caltech.edu/~murray/amwiki/Errata:_F_R_v_F%5ET_term_dropped_in_proof_of_Theorem_7.4.html Errata: F R v F^T term dropped in proof of Theorem 7.4 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Property:Submitted.html Property:Submitted - FBSwiki property submitted https://www.cds.caltech.edu/~murray/amwiki/Errata:_Extraneous_text_%22!design%22_in_Chapter_12.html Errata: Extraneous text "!design" in Chapter 12 - FBSwiki text design errata extraneous chapter https://www.cds.caltech.edu/~murray/amwiki/Errata:_Diagonal_entries_for_Q_v_should_be_rho.html Errata: Diagonal entries for Q v should be rho - FBSwiki errata diagonal entries q v https://www.cds.caltech.edu/~murray/amwiki/Errata:_Values_of_zeta_in_the_caption_for_Figure_6.8_don't_match_the_figure.html Errata: Values of zeta in the caption for Figure 6.8 don't match the figure - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_12.7,_there's_a_typo_in_the_discussion_of_inner%252Fouter_loop_design.html In Section 12.7, there's a typo in the discussion of inner/outer loop design - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_3.1,_there_is_a_typo_for_plurality.html In Section 3.1, there is a typo for plurality - FBSwiki there is section https://www.cds.caltech.edu/~murray/amwiki/Errata:_At_end_of_Example_5.5,_eigenvalue_approximations_are_incorrect.html Errata: At end of Example 5.5, eigenvalue approximations are incorrect - FBSwiki end of errata example https://www.cds.caltech.edu/~murray/amwiki/Errata:_Last_equation_in_Example_8.6_has_sign_error_in_the_second_term.html Errata: Last equation in Example 8.6 has sign error in the second term - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_11.1,_the_word_%22frequencies%22_is_duplicated.html In Section 11.1, the word "frequencies" is duplicated - FBSwiki the word section frequencies https://www.cds.caltech.edu/~murray/amwiki/File:Pid.png.html File:Pid.png - FBSwiki file pid png https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_8.5,_q_should_be_replaced_by_theta.html Errata: In Example 8.5, q should be replaced by theta - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_6.5,_definitions_of_z1_and_z2_are_switched.html Errata: In Example 6.5, definitions of z1 and z2 are switched - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_4.1,_tau_should_be_defined_as_t-t_0.html Errata: In Exercise 4.1, tau should be defined as t-t 0 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Category:Version_2.11b_errata.html Category:Version 2.11b errata - FBSwiki category version errata https://www.cds.caltech.edu/~murray/amwiki/Second_Edition:Archived_news.html Second Edition:Archived news - FBSwiki second edition archived news https://www.cds.caltech.edu/~murray/amwiki/Exercise:_State_feedback_control_of_an_AFM_in_contact_mode.html Exercise: State feedback control of an AFM in contact mode - FBSwiki feedback control in contact exercise state https://www.cds.caltech.edu/~murray/amwiki/FAQ:_How_are_stability,_performance_and_robustness_different.html FAQ: How are stability, performance and robustness different? - FBSwiki faq stability performance robustness different https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_expression_for_B(t),_missing_parenthesis_at_end_of_subscripted_expression.html Errata: In expression for B(t), missing parenthesis at end of subscripted expression - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Figure_10.13,_the_indices_on_the_resistors_and_capacitors_are_incorrect.html Errata: In Figure 10.13, the indices on the resistors and capacitors are incorrect - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Figure_2.9,_%22solid%22_and_%22dashed%22_should_be_swapped.html Errata: In Figure 2.9, "solid" and "dashed" should be swapped - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Version_3.0j.html Version 3.0j - FBSwiki version https://www.cds.caltech.edu/~murray/amwiki/File:Pid-tuning.png.html File:Pid-tuning.png - FBSwiki pid tuning file png https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_7.11,_output_to_check_is_the_feedforward_signal.html Errata: In Exercise 7.11, output to check is the feedforward signal - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_second_line_of_displayed_equation,_missing_minus_sign_in_front_of_the_gain_matrix.html Errata: In Example 6.5, reference variable should be L d instead of r - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Exercise:_Modeling_and_simulation_of_an_exothermic_reaction.html Exercise: Modeling and simulation of an exothermic reaction - FBSwiki modeling and simulation exothermic reaction exercise https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_equation_(10.4),_upper_limit_of_the_integral_should_be_t,_not_infinity.html Errata: In equation (10.4), upper limit of the integral should be t, not infinity - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/FAQ:_How_do_you_show_that_exp(T_S_inv(T))_=_T_exp(S)_inv(T).html FAQ: How do you show that exp(T S inv(T)) = T exp(S) inv(T)? - FBSwiki how do you t s faq show https://www.cds.caltech.edu/~murray/amwiki/First_printing.html Version 2.9d - FBSwiki version https://www.cds.caltech.edu/~murray/amwiki/Exercise:_Exploring_the_dynamics_of_rolling_mill.html Exercise: Exploring the dynamics of rolling mill - FBSwiki exploring the rolling mill exercise dynamics https://www.cds.caltech.edu/~murray/amwiki/Lecture:_System_Modeling.html Lecture: System Modeling - FBSwiki system modeling lecture https://www.cds.caltech.edu/~murray/amwiki/Exercise:_Popular_articles_about_control*.html Exercise: Popular articles about control* - FBSwiki popular articles about control exercise https://www.cds.caltech.edu/~murray/amwiki/Exercise:_Vehicle_powertrain_modeling_and_cruise_control.html Exercise: Vehicle powertrain modeling and cruise control - FBSwiki cruise control exercise vehicle powertrain modeling https://www.cds.caltech.edu/~murray/amwiki/Errata:_Example_5.5_includes_a_damping_term_not_shown_in_Figure_5.4.html Errata: Example 5.5 includes a damping term not shown in Figure 5.4 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_AFM_dynamics,_c_and_k_are_missing_subscript_2.html Errata: In AFM dynamics, c and k are missing subscript 2 - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Errata:_Toward_end_of_Section_10.4,_k_i_should_be_k_t.html Errata: Toward end of Section 10.4, k i should be k t - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Property:Lineno.html Property:Lineno - FBSwiki property https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Exercise_4.2,_the_q_in_term_should_be_positive.html Errata: In Exercise 4.2, the q in term should be positive - FBSwiki the q https://www.cds.caltech.edu/~murray/amwiki/Errata:_For_underdamped_second_order_system,_eigenvalues_are_listed_incorrectly.html Errata: For underdamped second order system, eigenvalues are listed incorrectly - FBSwiki second order errata https://www.cds.caltech.edu/~murray/amwiki/Errata:_Estimator_dynamics_in_Theorem_7.3_are_missing_B_k_r_r_term.html Errata: Estimator dynamics in Theorem 7.3 are missing B k r r term - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/No_errata_reported_in_most_recent_version_of_this_chapter.html No errata reported in most recent version of this chapter - FBSwiki most recent of this errata reported https://www.cds.caltech.edu/~murray/amwiki/Other_Time_Domain_Specifications.html Other Time Domain Specifications - FBSwiki time domain specifications https://www.cds.caltech.edu/~murray/amwiki/Errata:_After_equation_(12.23),_generalized_error_is_z,_not_w.html Errata: After equation (12.23), generalized error is z, not w - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/FAQ:_In_Section_6.4_(integral_action),_doesn't_the_value_of_z_e_depend_on_K.html FAQ: In Section 6.4 (integral action), doesn't the value of z e depend on K? - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Property:Version.html Property:Version - FBSwiki property version https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_the_caption_for_Figure_9.7,_the_transfer_function_should_match_equation_(9.4).html Errata: In the caption for Figure 9.7, the transfer function should match equation (9.4) - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/File:Loopsyn_typicalbode.png.html File:Loopsyn typicalbode.png - FBSwiki file png https://www.cds.caltech.edu/~murray/amwiki/In_Section_12.2,_the_condition_for_Gyv_being_small_seems_to_be_misstated.html In Section 12.2, the condition for Gyv being small seems to be misstated - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/FAQ:_How_do_you_know_when_your_model_is_sufficiently_complex.html FAQ: How do you know when your model is sufficiently complex? - FBSwiki how do you know https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_equation_(8.15),_second_order_partial_derivative_is_written_incorrectly.html Errata: In equation (8.15), second order partial derivative is written incorrectly - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/Lecture:_ODEs.html Lecture: ODEs - FBSwiki lecture odes https://www.cds.caltech.edu/~murray/amwiki/In_Section_10.4,_Figure_10.14(b)_seems_to_missing_the_curve_for_reverse_driving_phase.html In Section 10.4, Figure 10.14(b) seems to missing the curve for reverse driving phase - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/In_Section_2.1,_referred_is_misspelled.html In Section 2.1, referred is misspelled - FBSwiki section referred misspelled https://www.cds.caltech.edu/~murray/amwiki/Errata:_In_Example_4.6,_u_d_is_not_computed_correctly.html Errata: In Example 4.6, u d is not computed correctly - FBSwiki https://www.cds.caltech.edu/~murray/amwiki/File:Loopsyn_twodof.png.html File:Loopsyn twodof.png - FBSwiki file png https://www.cds.caltech.edu/~murray/amwiki/Errata:_Extraneous_text_%22!linear%22_in_Section_5.1.html Errata: Extraneous text "!linear" in Section 5.1 - FBSwiki errata extraneous text linear section